Framework for training options with different attention mechanism and using them to solve downstream tasks.

Last update: Nov 3, 2022

Related tags

Deep Learning hrl_attention

Overview

Using Attention in HRL

Framework for training options with different attention mechanism and using them to solve downstream tasks.

Requirements

GPU required

conda env create -f conda_env.yml

After the instalation ends you can activate your environment and install remaining dependencies. (e.g. sub-module gym_minigrid which is a modified version of MiniGrid )

conda activate affenv
cd gym-minigrid
pip install -e .
cd ../
pip install -e .

Instructions

In order to train options and IC_net follow these steps:

1. Configure desired environment - number of task and objects per task in file config/op_ic_net.yaml. E.g:
  env_args:
    task_size: 3
    num_tasks: 4

2. Configure desired type of attention (between "affordance", "interest", "nan") - in file config/op_ic_net.yaml. E.g. 
main:
  attention: "affordance" 

3. Train by running command
liftoff train_main.py configs/op_ic_net.yaml

Once a pre-trained option checkpoint exists a HRL agent can be trained to solve the downstream task (for the same environment the options were trained on). Follow these steps in order to train an HRL-Agent with different types of attentions:

1. Configure checkpoint (experiment config file and options_model_id) for pre-trained Options and IC_net - in file configs/hrl-agent.yaml. E.g: 

main:
  options_model_cfg: "results/op_aff_4x3/0000_multiobj/0/cfg.yaml"
  options_model_id: -1  # Last checkpoint will be used

2. Configure type of attention for training the HRL-agent (between "affordance", "interest", "nan") - in file configs/hrl-agent.yaml. E.g:
main:
  modulate_policy: affordance

3. Train HRL-agent by running command
liftoff train_mtop_ppo.py configs/hrl-agent.yaml

Both training scrips produce results in the results folder, where all the outputs are going to be stored including train/eval logs, checkpoints. Live plotting is integrated using services from Wandb (plotting has to be enabled in the config file main:plot and user logged in Wandb or user login api key in the file .wandb_key).

The console output is also available in a form:

Option Pre-training e.g.:

U 11 | F 022528 | FPS 0024 | D 402 | rR:u, 0.03 | F:u, 41.77 | tL:u 0.00 | tPL:u 6.47 | tNL:u 0.00 | t 52 | aff_loss 0.0570 | aff 2.8628 | NOaff 0.0159 | ic 0.0312 | cnt_ic 1.0000 | oe 2.4464 | oic0 0.0000 | oic1 0.0000 | oic2 0.0000 | oic3 0.0000 | oPic0 0.0000 | oPic1 0.0000 | oPic2 0.0000 | oPic3 0.0000 | icB 0.0208 | PicB 0.1429 | icND 0.0192

Some of the training entries decodes as

F - number of frames (steps in the env)
tL - termination loss
aff_loss - IC_net loss
cnt_ic - Intent completion per training batch 
oicN - Intent completion fraction for each option N out of Total option N sampled
oPicN - Intent completion fraction for each option N out of affordable ones
PicB - Intent completion average over all options out of affordable ones

HRL-agent training

U 1 | F 4555192.0 | FPS 21767 | D 209 | rR:u, 0.00 | F:u, 8.11 | e:u, 2.48 | v:u 0.00 | pL:u 0.01 | vL:u 0.00 | g:u 0.01 | TrR:u, 0.00

Some of the training entries decodes as

F - number of frames (steps in the env offseted by the number of pre-training steps)
rR - Accumulated episode reward average
TrR - Average episode success rate

Framework structure

The code is organised as follows:

agents/ - implementation of agents (e.g. training options and IC_net multistep_affordance.py; hrl-agent PPO ppo_smdp.py )
configs/ - config files for training agents
gym-minigrid/ - sub-module - Minigrid envs
models/ - Neural network modules (e.g options with IC_net aff_multistep.py and CNN backbone extractor_cnn_v2.py)
utils/ - Scripts for e.g.: running envs in parallel, preprocessing observations, gym wrappers, data structures, logging modules
train_main.py - Train Options with IC_net
train_mtop_ppo.py - Train HRL-agent

Acknowledgements

We used PyTorch as a machine learning framework.

We used liftoff for experiment management.

We used wandb for plotting.

We used PPO adapted for training our agents.

We used MiniGrid to create our environment.

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Framework for training options with different attention mechanism and using them to solve downstream tasks.

Related tags

Overview

Using Attention in HRL

Requirements

Instructions

Framework structure

Acknowledgements

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